Trajectory planning and control of one-legged hopping robot at thrusting phase

Sho Sakaino, Kouhei Ohnishi

Research output: Contribution to journalArticle

Abstract

One of the most important events for hopping robot is lift-off; the end of thrusting phase, since hopping motion often comes to be unstable at lift-off. Therefore, we focus on thrusting phase. In this research, we propose a new controller, which is combined two controllers. We also propose a trajectory planning so that a hopping robot follows command value of vertical velocity. The effectiveness of the proposed methods are confirmed by simulation and experiment.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume127
Issue number8
Publication statusPublished - 2007

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Trajectories
Robots
Planning
Controllers
Experiments

Keywords

  • Hopping height control
  • Hopping robot
  • Jumping robot
  • Thrust force

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Trajectory planning and control of one-legged hopping robot at thrusting phase. / Sakaino, Sho; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 127, No. 8, 2007.

Research output: Contribution to journalArticle

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